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EP3366524A4 - Parking space detection method and device - Google Patents

Parking space detection method and device Download PDF

Info

Publication number
EP3366524A4
EP3366524A4 EP15906707.3A EP15906707A EP3366524A4 EP 3366524 A4 EP3366524 A4 EP 3366524A4 EP 15906707 A EP15906707 A EP 15906707A EP 3366524 A4 EP3366524 A4 EP 3366524A4
Authority
EP
European Patent Office
Prior art keywords
detection method
parking space
space detection
parking
space
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15906707.3A
Other languages
German (de)
French (fr)
Other versions
EP3366524B1 (en
EP3366524A1 (en
Inventor
Yasuhisa Hayakawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of EP3366524A1 publication Critical patent/EP3366524A1/en
Publication of EP3366524A4 publication Critical patent/EP3366524A4/en
Application granted granted Critical
Publication of EP3366524B1 publication Critical patent/EP3366524B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30264—Parking

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Theoretical Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Geometry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Image Analysis (AREA)
EP15906707.3A 2015-10-22 2015-10-22 Parking space detection method and device Active EP3366524B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/079895 WO2017068701A1 (en) 2015-10-22 2015-10-22 Parking space detection method and device

Publications (3)

Publication Number Publication Date
EP3366524A1 EP3366524A1 (en) 2018-08-29
EP3366524A4 true EP3366524A4 (en) 2018-11-21
EP3366524B1 EP3366524B1 (en) 2020-01-08

Family

ID=58557087

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15906707.3A Active EP3366524B1 (en) 2015-10-22 2015-10-22 Parking space detection method and device

Country Status (11)

Country Link
US (1) US10163016B2 (en)
EP (1) EP3366524B1 (en)
JP (1) JP6531832B2 (en)
KR (1) KR102042371B1 (en)
CN (1) CN108136987B (en)
BR (1) BR112018008126B1 (en)
CA (1) CA3002641C (en)
MX (1) MX367250B (en)
MY (1) MY191078A (en)
RU (1) RU2700635C1 (en)
WO (1) WO2017068701A1 (en)

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RU2737641C1 (en) * 2017-07-07 2020-12-01 Ниссан Мотор Ко., Лтд. Parking assistance method and parking assistance device
CA3069108C (en) 2017-07-07 2020-08-18 Nissan Motor Co., Ltd. Parking assistance method and parking assistance device
KR102145747B1 (en) * 2017-07-07 2020-08-20 닛산 지도우샤 가부시키가이샤 Parking assistance method and parking assistance device
KR102429494B1 (en) * 2017-10-13 2022-08-05 현대자동차주식회사 Apparatus for displaying target parking space of vehicle and method thereof
DE102017218921B4 (en) * 2017-10-24 2024-05-23 Bayerische Motoren Werke Aktiengesellschaft Method, device, computer program and computer program product for operating a display unit of a vehicle
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KR102077573B1 (en) * 2018-01-31 2020-02-17 엘지전자 주식회사 Autonomous parking system and vehicle
JP6479231B1 (en) * 2018-02-28 2019-03-06 三菱電機株式会社 Parking assistance device and parking assistance method
DE102018205968A1 (en) * 2018-04-19 2019-10-24 Volkswagen Aktiengesellschaft Method for operating a parking assistance system of a motor vehicle and parking assistance system for a motor vehicle
DE112018007825T5 (en) * 2018-07-09 2021-04-22 Mitsubishi Electric Corporation Parking assistance device and parking assistance method
FR3084628B1 (en) * 2018-07-31 2021-06-11 Renault Sas METHOD OF DETERMINING A TYPE OF PARKING SPACE
CN110795974B (en) * 2018-08-03 2023-04-07 中国移动通信有限公司研究院 Image processing method, device, medium and equipment
KR102452556B1 (en) * 2018-08-28 2022-10-07 현대자동차주식회사 Apparatus for controlling parking of vehicle, system having the same and method thereof
DE112018008050T5 (en) * 2018-10-03 2021-06-24 Mitsubishi Electric Corporation Parking aid device and parking aid method
US10733891B2 (en) * 2018-11-05 2020-08-04 Toyota Motor Engineering & Manufacturing North America, Inc. Parking lot assistant
KR102653169B1 (en) * 2018-12-12 2024-04-03 주식회사 에이치엘클레무브 Apparatus and method for controlling a Rear Cross Traffic Alert
JP7203587B2 (en) * 2018-12-14 2023-01-13 株式会社デンソーテン Image processing device and image processing method
CN110796889A (en) * 2019-01-25 2020-02-14 长城汽车股份有限公司 Parking space determining method and device for passenger-riding parking
CN109677398A (en) * 2019-02-22 2019-04-26 海马汽车有限公司 Automatic parking method, apparatus and automobile
KR102727540B1 (en) 2019-04-26 2024-11-11 현대모비스 주식회사 Apparatus and method for supporting parking
DE102019207190B3 (en) * 2019-05-16 2020-08-27 Volkswagen Aktiengesellschaft Method for parking a vehicle in a perpendicular parking space, taking into account headlight positions of vehicles parked next to it, as well as parking assistance system
JP2021000958A (en) * 2019-06-24 2021-01-07 本田技研工業株式会社 Parking support system
JP7367375B2 (en) 2019-08-07 2023-10-24 株式会社アイシン Specific area detection device
JP7688476B2 (en) * 2019-10-11 2025-06-04 株式会社アイシン Parking Assistance Device
JP6966529B2 (en) * 2019-12-13 2021-11-17 本田技研工業株式会社 Parking assistance devices, parking assistance methods, and programs
JP7065068B2 (en) * 2019-12-13 2022-05-11 本田技研工業株式会社 Vehicle surroundings monitoring device, vehicle, vehicle surroundings monitoring method and program
US10916141B1 (en) 2019-12-18 2021-02-09 Toyota Motor Engineering & Manufacturing North America, Inc. System and method for generating a parking space directory
JP7466324B2 (en) * 2020-02-12 2024-04-12 フォルシアクラリオン・エレクトロニクス株式会社 Image processing device and image processing method
JP2021138231A (en) * 2020-03-03 2021-09-16 パナソニックＩｐマネジメント株式会社 Drive support device and drive support method
US11708071B2 (en) * 2020-03-30 2023-07-25 Denso Corporation Target-orientated navigation system for a vehicle using a generic navigation system and related method
CN113516867A (en) * 2020-04-10 2021-10-19 奥迪股份公司 Parking indication device, parking assistance system, parking management system and corresponding method
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JP7499606B2 (en) * 2020-05-12 2024-06-14 フォルシアクラリオン・エレクトロニクス株式会社 Image processing device and image processing method
JP7745963B2 (en) * 2020-06-05 2025-09-30 パナソニックオートモーティブシステムズ株式会社 Driving assistance device, driving assistance method, and driving assistance program
CN112349133B (en) * 2020-07-20 2022-11-04 北京筑梦园科技有限公司 Management method, server and parking management system for irregular parking
CN112364884B (en) * 2020-10-09 2024-02-20 江苏星闪世图科技(集团)有限公司 Method for detecting moving object
CN116508083B (en) * 2020-11-02 2024-04-26 日产自动车株式会社 Parking assistance method and parking assistance device
CN112669615B (en) * 2020-12-09 2023-04-25 上汽大众汽车有限公司 A camera-based parking space detection method and system
CN112927552B (en) * 2021-01-20 2022-03-11 广州小鹏自动驾驶科技有限公司 Parking space detection method and device
CN113251962B (en) * 2021-03-29 2022-07-05 英博超算(南京)科技有限公司 Ultrasonic parking space compensation system based on machine learning
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Also Published As

Publication number Publication date
CN108136987A (en) 2018-06-08
MX367250B (en) 2019-08-12
MX2018004709A (en) 2018-06-18
WO2017068701A1 (en) 2017-04-27
CA3002641C (en) 2022-05-17
MY191078A (en) 2022-05-30
KR20180064531A (en) 2018-06-14
BR112018008126A2 (en) 2018-11-06
US20180322349A1 (en) 2018-11-08
CN108136987B (en) 2022-08-12
BR112018008126B1 (en) 2021-12-28
JPWO2017068701A1 (en) 2018-08-02
EP3366524B1 (en) 2020-01-08
KR102042371B1 (en) 2019-11-07
US10163016B2 (en) 2018-12-25
EP3366524A1 (en) 2018-08-29
RU2700635C1 (en) 2019-09-18
JP6531832B2 (en) 2019-06-26
CA3002641A1 (en) 2017-04-27

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